bundles / scipy 1.18.0 / scipy / spatial / transform / _rigid_transform_xp / _normalize_dual_quaternion
function
scipy.spatial.transform._rigid_transform_xp:_normalize_dual_quaternion
Signature
def _normalize_dual_quaternion(real_part: Array, dual_part: Array) → tuple[Array, Array]Summary
Ensure that the dual quaternion has unit norm.
Extended Summary
The norm is a dual number and must be 1 + 0 * epsilon, which means that the real quaternion must have unit norm and the dual quaternion must be orthogonal to the real quaternion.
Aliases
scipy.spatial.transform._rigid_transform_xp._normalize_dual_quaternion